Irrigation method and irrigation mechanism

Abstract

The embodiment of the invention relates to the technical field of swimming pool cleaning, in particular to an irrigation method and an irrigation mechanism, and the irrigation method comprises the following steps: rotating the irrigation mechanism to control a water curtain drop point of the irrigation mechanism to move along the boundary of an area to be irrigated; in the moving process, information of a plurality of rotation angles of the irrigation mechanism and pitching angles of nozzles of the irrigation mechanism corresponding to the rotation angles and / or water flow related parameters of the irrigation mechanism are recorded; acquiring position information of the boundary of the current irrigation area corresponding to each rotation angle based on the calibration information; determining a boundary map of the to-be-irrigated area based on the position information; generating a moving path of a water curtain drop point based on the map of the to-be-irrigated area; and controlling an irrigation mechanism to irrigate the to-be-irrigated area according to the path. According to the scheme, a professional does not need to design an irrigation path, and automatic and accurate irrigation of the irrigation area is achieved.

Description

Technical Field

[0001] The present application relates to the field of greening technology, and in particular to an irrigation method and an irrigation mechanism. Background Art

[0002] In recent years, due to the increase in urban greening scenes such as lawns and flower beds, irrigation technology has flourished. How to achieve fast, accurate and intelligent irrigation without wasting water resources has become a problem that has attracted everyone's attention.

[0003] Most of the current water-saving irrigation equipment requires professionals to design irrigation lines and lay pipes in the environment to achieve full coverage of the irrigation site. This method is complex to install and costly, and it is difficult to change after laying. Later maintenance also requires professionals. Some solutions require the installation of infrared and other sensors on the irrigation equipment to identify the boundaries of the area that needs to be irrigated through sensor data, and then control the irrigated area. This method has low recognition accuracy and requires additional sensor costs.

[0004] Therefore, how to provide a watering solution to solve the above problems. Summary of the invention

[0005] The embodiments of the present specification provide a watering method and a watering mechanism, which can realize automatic and precise watering of the area to be watered without the need for additional equipment.

[0006] On the one hand, an embodiment of this specification provides a watering method, the method comprising:

[0007] The watering mechanism is rotated so as to control the water curtain of the watering mechanism to move along the boundary of the area to be irrigated;

[0008] During the movement, multiple rotation angle information of the irrigation mechanism, as well as the pitch angle of the nozzle of the irrigation mechanism corresponding to each rotation angle and / or water flow related parameters of the irrigation mechanism are recorded;

[0009] Acquire the position information of the boundary of the current irrigation area corresponding to each of the rotation angles based on the calibration information;

[0010] Determine a boundary map of the area to be irrigated based on the location information;

[0011] Based on the map of the area to be irrigated, a moving path of the water curtain landing point is generated;

[0012] The watering mechanism is controlled to water the area to be watered according to the path.

[0013] Furthermore, the calibration information includes a corresponding relationship between the pitch angle and the distance from the starting point of the water curtain to the boundary of the irrigation area;

[0014] Or, the correspondence between the water flow related parameters of the irrigation mechanism and the distance from the starting point of the water curtain to the boundary of the irrigation area.

[0015] Furthermore, the calibration information also includes the correspondence between the pitch angle, the water flow related parameters of the irrigation mechanism and the position information.

[0016] Furthermore, the position information includes the distance between the starting point of the water curtain and the boundary of the irrigation area or the distance between the location of the irrigation mechanism and the boundary.

[0017] Furthermore, the path includes at least one sub-path, and the irrigation mechanism performs irrigation according to the sub-path; in the non-path area, the water curtain of the irrigation mechanism does not pass through, or the water curtain is closed or operates with a minimum spray water flow.

[0018] Furthermore, the subpath is a closed loop or a non-closed loop.

[0019] Furthermore, when the sub-path is a non-closed loop, a starting point or an end point of each sub-path is on a map of a boundary of the area to be irrigated.

[0020] Furthermore, the number and spacing of the sub-paths are related to the width of the water curtain.

[0021] Furthermore, the landing point of the water curtain includes the farthest point where the water curtain falls on the ground.

[0022] Furthermore, the rotation speed of the watering mechanism is related to the water pressure of the watering mechanism or the length of the sub-path.

[0023] On the other hand, an embodiment of the present specification provides a watering mechanism, wherein the watering mechanism includes a controller, and the controller is used to execute the above-mentioned watering method.

[0024] On the other hand, a computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform any of the above-mentioned watering methods.

[0025] On the other hand, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the watering method provided in the above-mentioned various optional implementations.

[0026] The irrigation method, device, storage medium, and computer program product provided by the embodiments of this specification have the following technical effects:

[0027] The irrigation method provided in the embodiment of this specification, before the irrigation operation is performed on the area to be irrigated, first controls the rotation of the irrigation mechanism so that the water curtain landing point of the irrigation mechanism moves along the boundary of the area to be irrigated, and then obtains the position information of the boundary corresponding to each rotation angle based on the calibration information, and then constructs a boundary map of the area to be irrigated. Based on the constructed boundary map, the moving path of the water curtain landing point of the irrigation mechanism is generated, and the area to be irrigated is irrigated along the moving path. There is no need for technicians to design professional irrigation routes, and the irrigation mechanism realizes automatic and precise irrigation in the irrigation area. The operation is simple, and no other equipment needs to be added, which reduces the cost of irrigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions and advantages in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 It is a schematic diagram of a flow chart of a watering method provided by an embodiment of this specification;

[0030] Figure 2 It is a structural schematic diagram of a watering mechanism in one embodiment of this specification;

[0031] Figure 3 is a schematic diagram of a watering scene in one embodiment of this specification;

[0032] Figure 4 is a schematic diagram of a watering scene in another embodiment of the present specification;

[0033] Figure 5 is a schematic diagram of a watering scene in another embodiment of this specification;

[0034] Figure 6 is a schematic diagram of a watering scene in another embodiment of the present specification;

[0035] Figure 7 It is a schematic diagram of the structure of the watering electronic equipment provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this specification.

[0037] It should be noted that the terms "first", "second", etc. in the description and claims of the embodiments of this specification and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of this specification described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0038] The irrigation method provided in some embodiments of the present specification can be applied to places such as gardens or urban greening. Before the irrigation operation is performed on the area to be irrigated, the irrigation mechanism can be controlled to rotate so that the water curtain landing point of the irrigation mechanism moves along the boundary of the area to be irrigated, thereby constructing a boundary map of the area to be irrigated. The moving path of the water curtain landing point of the irrigation mechanism is generated based on the constructed boundary map, and the area to be irrigated is irrigated along the moving path. There is no need for technicians to design professional irrigation routes, and the irrigation mechanism can also achieve precise irrigation in the irrigation area. The operation is simple, no other equipment needs to be added, and the cost of irrigation is reduced.

[0039] The following describes a watering method according to an embodiment of the present specification. Figure 1 It is a flow chart of the watering method provided by an embodiment of this specification. This specification provides method operation steps such as the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in sequence or in parallel according to the method shown in the embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment). This method can be applied to the controller of an automatic cleaning device, and the embodiments of this specification do not specifically limit this. Specifically, Figure 1 As shown, the method may include:

[0040] S102: Rotate the irrigation mechanism to control the water curtain landing point of the irrigation mechanism to move along the boundary of the area to be irrigated.

[0041] In the specific implementation process, the area to be irrigated can be understood as the area that needs to be irrigated, which can be an urban greening area or a garden, etc., depending on actual needs, and the embodiments of this specification do not make specific limitations. The irrigation mechanism can be understood as a device that can irrigate a greening area or a garden, etc. Figure 2 Schematic diagram of the structure of the irrigation mechanism in one embodiment of the present specification. Figure 2 As shown, a rotating support that can rotate in the horizontal direction is arranged on the base of the irrigation mechanism, and a nozzle is connected to the upper end of the rotating support, and the nozzle can be rotated up and down to adjust the pitch angle. Before watering the area to be irrigated, the irrigation mechanism can be rotated, such as: the irrigation mechanism can be rotated manually, or the irrigation mechanism can be rotated by a motor (such as a stepping motor), or the controller of the motor of the irrigation mechanism can be connected to the application of the smart device to control the rotation of the irrigation mechanism through the application. When rotating the irrigation mechanism, the water curtain of the irrigation mechanism can be controlled to fall on the boundary of the area to be irrigated by adjusting the pitch angle or flow rate of the irrigation mechanism, and then the irrigation mechanism is rotated so that the water curtain of the irrigation mechanism can move along the boundary of the area to be irrigated. Among them, the water curtain of the irrigation mechanism has a certain width, and the water curtain landing point can include the farthest point where the water curtain falls on the ground. When the water curtain landing point of the irrigation mechanism is controlled to move along the boundary of the area to be irrigated, the middle landing point of the water curtain can be controlled to fall on the boundary of the area to be irrigated, or at least the farthest landing point of the water curtain is ensured to fall on the boundary of the area to be irrigated, so that the boundary map of the area to be irrigated can be obtained through the position of the water curtain landing point.

[0042] In addition, when the irrigation mechanism is rotated, the irrigation mechanism can be arranged inside the area to be irrigated or outside the area to be irrigated, and the position of the irrigation mechanism can be set according to the position and shape of the area to be irrigated, etc. Moreover, the irrigation mechanism can be an irrigation device fixedly arranged in the area to be irrigated or an irrigation device moved from the outside to the inside or near the area to be irrigated, and the embodiments of this specification do not specifically limit this.

[0043] S104: During the movement, multiple rotation angle information of the irrigation mechanism, as well as the pitch angle of the nozzle of the irrigation mechanism corresponding to each rotation angle and / or water flow related parameters of the irrigation mechanism are recorded.

[0044] In a specific implementation process, during the process of rotating the irrigation mechanism and controlling the water curtain landing point of the irrigation mechanism to move along the boundary of the area to be irrigated, the motion data of the irrigation mechanism can be recorded, such as: recording multiple rotation angle information during the rotation of the irrigation mechanism. The rotation angle information can be the rotation angle during the movement of the irrigation mechanism, or the number of rotations during the rotation of the irrigation mechanism. For example, when the water curtain landing point of the irrigation mechanism moves along the boundary of the area to be irrigated, starting from the starting position, the rotation angle of the irrigation mechanism can be recorded once every time it moves a certain distance. It can also be set to record once every preset angle, or it can be set to set a fixed angle each time the irrigation mechanism rotates. By recording the number of rotations of the irrigation mechanism, the rotation angle of the irrigation mechanism is obtained. Among them, the number or density of the recorded rotation angles can be set or adjusted according to actual needs, and the embodiments of this specification do not make specific limitations.

[0045] like Figure 2 As shown, the irrigation mechanism can not only rotate in the horizontal direction, but also the pitch angle of the nozzle of the irrigation mechanism can be adjusted. By adjusting the pitch angle of the nozzle, the water curtain spraying distance of the irrigation mechanism can be controlled. In the embodiment of this specification, when recording the rotation angle of the irrigation mechanism, the pitch angle of the nozzle of the irrigation mechanism corresponding to each rotation angle, and / or the water flow related parameters of the irrigation mechanism such as water pressure, water speed, flow rate, etc. can also be recorded. Through the pitch angle of the nozzle of the irrigation mechanism or the water flow and other parameters, the distance of the water curtain spraying of the irrigation mechanism can be obtained, laying the foundation for constructing the boundary map of the area to be irrigated.

[0046] S106: Acquire the position information of the boundary of the current irrigation area corresponding to each of the rotation angles based on the calibration information.

[0047] In a specific implementation process, after rotating and recording the rotation angle of the irrigation mechanism, and the corresponding pitch angle and / or water flow related parameters, the position information of the boundary of the irrigation area corresponding to the recorded rotation angle can be obtained based on the calibration information. Among them, the calibration information can be understood as the mapping relationship between different pitch angles or water flow parameters of the irrigation mechanism and the range of the irrigation mechanism, and the position information can be understood as the position of the boundary of the current irrigation area of ​​the irrigation mechanism relative to the position of the irrigation mechanism, or the position of the boundary relative to the starting point of the water curtain of the irrigation mechanism.

[0048] In some embodiments of this specification, the calibration information includes the corresponding relationship between the pitch angle and the distance from the starting point of the water curtain to the boundary of the irrigation area;

[0049] Or, the correspondence between the water flow related parameters of the irrigation mechanism and the distance from the starting point of the water curtain to the boundary of the irrigation area.

[0050] In a specific implementation process, the calibration information may include the corresponding relationship between the pitch angle of the irrigation mechanism and the distance from the starting point of the water curtain to the boundary of the area irrigated at the pitch angle, wherein there may be multiple pitch angles, and calibration may be set every certain angle. For example, the water flow parameters such as the flow rate and water pressure of the irrigation mechanism may be fixed, such as the water flow parameters when the irrigation mechanism moves along the boundary of the area to be irrigated as the irrigation water flow parameters when the irrigation mechanism is calibrated, and the irrigation mechanism is controlled to irrigate starting from the minimum pitch angle, and the distance from the starting point of the water curtain of the irrigation mechanism to the boundary of the area irrigated at the pitch angle is measured. Then, the pitch angle is increased sequentially, and the distance from the starting point of the water curtain of the irrigation mechanism to the boundary of the irrigation area at each pitch angle is measured to obtain the mapping relationship between the pitch angle of the irrigation mechanism and the range of the irrigation mechanism.

[0051] Alternatively, the calibration information may also include a correspondence between water flow related parameters of the irrigation mechanism and the distance from the starting point of the water curtain to the boundary of the irrigation area. For example, the pitch angle of the irrigation mechanism may be fixed, such as the pitch angle of the irrigation mechanism when it moves along the boundary of the area to be irrigated may be used as the fixed pitch angle during calibration. Starting from the minimum water flow parameter of the irrigation mechanism, the irrigation mechanism is controlled to perform irrigation, and the distance from the starting point of the water curtain of the irrigation mechanism to the boundary of the area irrigated under the water flow parameter is measured. Then, the water flow parameters are increased in sequence, and the distance from the starting point of the water curtain of the irrigation mechanism to the boundary of the irrigation area under each water flow parameter is measured to obtain a mapping relationship between the water flow parameters of the irrigation mechanism and the range of the irrigation mechanism.

[0052] In some embodiments of the present specification, the calibration information further includes a correspondence between a pitch angle, water flow related parameters of the irrigation mechanism and the position information.

[0053] In the specific implementation process, the calibration information may also include the mapping relationship between the pitch angle of the irrigation mechanism, the water flow parameters, and the distance from the boundary of the irrigation area to the starting point of the water curtain or the position of the irrigation mechanism. That is to say, the calibration information may also include the corresponding relationship between the pitch angle and the distance from the starting point of the water curtain to the boundary of the irrigation area, and the corresponding relationship between the water flow related parameters of the irrigation mechanism and the distance from the starting point of the water curtain to the boundary of the irrigation area. For example: the irrigation mechanism is controlled to irrigate with different irrigation water flow parameters and different pitch angles respectively, the water flow parameters and pitch angle of the irrigation mechanism are adjusted in turn, the mapping relationship between the irrigation water flow parameters, the pitch angle and the corresponding range is recorded, the calibration information is obtained, and a calibration information table is constructed, which includes the corresponding relationship between the range of the irrigation mechanism under different pitch angles and different water flow parameters, that is, the distance from the starting point of the water curtain to the boundary of the irrigation area or the distance from the position of the irrigation mechanism to the boundary of the irrigation area.

[0054] Among them, the calibration information can be obtained by testing the irrigation mechanism before leaving the factory, the user can obtain it from the usage parameter table of the irrigation mechanism, or the user can obtain it through a series of tests before or during irrigation. The embodiments of this specification do not make specific limitations on this.

[0055] Based on the calibration information and combined with the rotational movement data of the irrigation mechanism in the area to be irrigated, the position information of the boundary of the irrigation area corresponding to different rotation angles can be quickly obtained, laying a data foundation for the subsequent construction of the boundary map of the area to be irrigated.

[0056] S108: Determine a boundary map of the area to be irrigated based on the location information.

[0057] In a specific implementation process, after obtaining the position information of the boundary of the current irrigation area corresponding to each of the rotation angles, a boundary map of the area to be irrigated can be constructed, such as: based on the position information corresponding to each rotation angle and the position of the irrigation mechanism, the moving trajectory points of the water curtain landing point of the irrigation mechanism can be obtained, and the boundary map of the area to be irrigated can be obtained by fitting each trajectory point. If the rotation angle is relatively small, the trajectory points that can be used when generating the boundary map are relatively sparse. At this time, more trajectory points can be obtained by interpolating the existing trajectory points, and then fitting the trajectory points to generate a boundary map of the area to be irrigated, so as to generate a more accurate boundary map.

[0058] S110: Based on the map of the area to be irrigated, a moving path of the water curtain landing point is generated.

[0059] In a specific implementation process, after obtaining the boundary map of the area to be irrigated, the irrigable range of the area to be irrigated is determined, and the irrigable points can be generated in the boundary map through machine algorithms or experience or preset irrigating modes, and the moving path of the water curtain landing point is generated based on each irrigating point. The moving path can be located at the boundary or within the boundary of the area to be irrigated, which can be determined according to the positional relationship between the irrigating mechanism and the area to be irrigated and the width of the water curtain of the irrigating mechanism, and the embodiments of this specification do not make specific limitations.

[0060] For example: the area to be irrigated can be divided into multiple irrigation areas using an intelligent algorithm based on the width of the water curtain of the irrigation mechanism and the boundary map of the area to be irrigated. The width of each irrigation area is less than or equal to the width of the water curtain of the irrigation mechanism, and the dividing line can be used as the moving path of the water curtain landing point. Alternatively, the irrigation mode of the irrigation mechanism is rotary irrigation, and during the irrigation process, the position of the irrigation mechanism is fixed. Then, based on the position of the irrigation mechanism and the map of the area to be irrigated, multiple equally divided circles can be made with the position of the irrigation mechanism as the center of the circle. Each equally divided circle divides the area to be irrigated into irrigation areas once, and each equally divided circle can be used as the moving path of the water curtain landing point. The method of generating the moving path of the water curtain landing point can be selected according to actual needs, and the embodiments of this specification do not make specific limitations.

[0061] S120: Control the watering mechanism to water the area to be watered according to the path.

[0062] In a specific implementation process, after the moving path of the water curtain landing point is generated, the irrigation mechanism can be controlled manually or by an application program to irrigate the area to be irrigated along the moving path.

[0063] In some embodiments of the present specification, the path includes at least one sub-path, and the irrigation mechanism performs irrigation according to the sub-path; in the non-path area, the water curtain of the irrigation mechanism does not pass, or the water curtain is closed or operates with a minimum spray water flow.

[0064] In the specific implementation process, when the moving path of the water curtain landing point is generated based on the boundary map of the area to be irrigated, the generated moving path may include one or more sub-paths, such as: if the irrigation mechanism is located inside the area to be irrigated, the water curtain width of the irrigation mechanism is relatively wide and can cover the boundary of the area to be irrigated, then a sub-path can be generated in the area to be irrigated, and the sub-path can be the boundary line of the area to be irrigated. Figure 3 is a schematic diagram of a watering scene in an embodiment of this specification, such as Figure 3 As shown, a watering mechanism is arranged in the rectangular area to be irrigated, and the water curtain of the watering mechanism has a width. When generating sub-paths of the area to be irrigated, the number and spacing of the sub-paths can be determined according to the width of the water curtain of the watering mechanism. The width of the water curtain can be understood as the distance between the starting point of the water curtain landing point of the water curtain of the watering mechanism and the end point of the water curtain landing point, or the width of the water curtain can also be understood as the distance between the farthest point where the water curtain of the watering mechanism falls on the ground and the position of the watering mechanism. Figure 4 is a schematic diagram of a watering scene in another embodiment of this specification. Figure 4 The rectangular box in the middle can represent the area to be irrigated, the circle outside the rectangular box can represent the irrigation mechanism, and each ring inside the rectangular box represents a subpath, such as Figure 4As shown, there are multiple sub-paths in the irrigation area. Starting from the sub-path closest to the irrigation mechanism, the irrigation area can be irrigated along each sub-path in turn. The distance between the two rings indicates the spacing between the sub-paths. When generating sub-paths, if the width of the water curtain of the irrigation mechanism is relatively wide, then the number of sub-paths can be appropriately reduced and the spacing between the sub-paths can be increased. This can ensure that all areas to be irrigated can be irrigated and the efficiency of irrigation can be improved. If the width of the water curtain is relatively narrow, then the number of sub-paths needs to be appropriately increased, and the spacing between the sub-paths needs to be reduced to ensure that all areas can be irrigated. Among them, the specific relationship between the number of sub-paths and the spacing between the sub-paths and the water curtain of the irrigation mechanism can be determined through experiments or expert experience, and the embodiments of this specification do not make specific limitations.

[0065] Figure 5 is a schematic diagram of a watering scene in another embodiment of this specification, such as Figure 5 As shown, Figure 5 The area within the middle and large circles can represent the area to be irrigated. There is a small circle at the center of the large circle that can represent the irrigation mechanism, and the irrigation mechanism is located inside the area to be irrigated. If the width of the water curtain of the irrigation mechanism is relatively wide and can cover all the areas to be irrigated at one time, then the circular boundary of the area to be irrigated can be used as the moving path of the water curtain landing point to generate a sub-path, and the irrigation mechanism can irrigate the area to be irrigated along the circular boundary. Of course, if the width of the water curtain of the irrigation mechanism is relatively small and cannot cover all the irrigated areas at one time, then multiple sub-paths can be generated. If there are multiple sub-paths, when irrigating the area to be irrigated along the sub-path, the endpoint of each sub-path can be used as the starting point of irrigation, starting from the sub-path that is closer to the irrigation mechanism, from near to far, and irrigating the area to be irrigated along each sub-path in turn. Of course, it can also be irrigated from far to near. Each sub-path can be irrigated once or multiple times, and the specific adjustment can be made according to actual needs.

[0066] In addition, the shape of the sub-path can be set according to actual needs, and can be an arc or a broken line or other shapes. The shape of the sub-path can also be set according to the shape of the area to be irrigated, and the embodiments of this specification do not make specific limitations. For example: according to the boundary map of the area to be irrigated, the position of the irrigation mechanism can be used as the center of the circle, and the area to be irrigated can be divided into equal circles according to the preset radius interval, and the intersection of each equal circle and the boundary of the area to be irrigated is used as the irrigation point. The equal circle part between the irrigation points belonging to the same equal circle can be used as a sub-path, and the irrigation mechanism can be controlled to move along each sub-path according to the rotation angle, pitch angle and / or water flow parameters corresponding to the irrigation point on the sub-path to irrigate the area to be irrigated. If the irrigation point on the equal circle is not the corresponding boundary position when the water curtain landing point of the irrigation mechanism moves along the boundary, the corresponding pitch angle and / or water flow parameter can be obtained according to the rotation angle corresponding to the two adjacent water curtain landing points of the irrigation point. Alternatively, the area to be irrigated can be divided according to the boundary shape of the area to be irrigated, and the boundary line can be used as a sub-path, which is moved into the area to be irrigated once at a certain interval according to the boundary shape to obtain a sub-path. The rotation angle, pitch angle, and water flow parameters corresponding to each rotation angle on the boundary line and the distance between other sub-paths and the boundary line can be obtained, and the irrigation mechanism can be controlled to irrigate the area to be irrigated along each sub-path.

[0067] Figure 6 is a schematic diagram of a watering scene in another embodiment of this specification, such as Figure 6 As shown, the area to be irrigated in the irrigation scene is discontinuous and can be divided into two sub-areas, sub-area 1 and sub-area 2. The circle between the two sub-areas can represent the mechanism to be irrigated. Generally, the sub-path is located within the boundary of the area to be irrigated, such as Figure 6 As shown in the figure, if the area to be irrigated is not continuous, there may be a non-path area between the two sub-paths. Figure 6 Each solid arc in sub-area 1 or sub-area 2 can represent a sub-path, and the dashed arc in the extension direction of the sub-path outside sub-area 1 and sub-area 2 is a non-path area. The non-path area can be understood as an extension area of ​​the sub-path, but not an area to be irrigated. For the non-path area, when irrigating, the irrigation mechanism may not irrigate, or may close the water curtain, or control the water flow to work with the minimum spray flow, which can save resources. Figure 4 As shown, when watering is performed along the sub-paths, the non-path areas outside the rectangular frame may not be watered, and the watering mechanism only needs to water the watering areas along each sub-path. Figure 6When watering along each sub-path, the upper sub-area 1 can be watered along the sub-path of the solid arc first, and the non-path area outside the sub-area 1 can be left unwatered. After the watering of the sub-area is completed, the lower sub-area 2 can be watered along the solid arc sub-path in the sub-area 2. Alternatively, watering can be performed according to a bisecting circle, such as controlling the rotation of the watering mechanism along a bisecting circle. When watering outside the watering area, the water curtain can be closed or adjusted to the minimum spray water flow, and the water curtain can continue to rotate. When entering another watering area, the water curtain can be opened or the water flow can be restored to the original size. For example: sub-path L1 and sub-path L2 are on the same bisector circle. You can start from point A on sub-path L1 and move clockwise toward point B to irrigate sub-area 1. After moving to point B, you can close the water curtain or adjust the water curtain to the minimum jet water flow and continue to rotate. When moving to point C on sub-path L2, open the water curtain or restore the water flow to its original size and move toward point D. After moving to point D, close the water curtain or adjust the water curtain to the minimum jet water flow and irrigate along the next sub-path.

[0068] In addition, if Figure 6 As shown in the figure, if the shape of the irrigation area is irregular, there will be non-path areas between the sub-paths of the same irrigation area. Of course, in the actual irrigation process, it is also possible to decide whether to close the water curtain or adjust the water flow according to the distance between two discontinuous irrigation areas. If there is a non-path area between two adjacent sub-paths and the distance between the two sub-paths is relatively close, it is also possible to directly irrigate according to the original water curtain flow rate or adjust the water flow of the sprinkler of the irrigation mechanism to the minimum. If the distance between the two sub-paths is relatively far, then when irrigating the non-path area, you can choose to close the water curtain.

[0069] In some embodiments of the present specification, the sub-path is a closed-loop or a non-closed-loop.

[0070] In the specific implementation process, when the moving path of the water curtain landing point is generated based on the boundary map of the area to be irrigated, each generated sub-path can be closed-loop or non-closed-loop, where a closed-loop can be understood as the starting point and end point of the sub-path are at the same position, and the sub-paths are connected end to end, and a non-closed-loop can be understood as the starting point and end point of the sub-path are at different positions. For example: Figure 5 The sub-path in is the boundary line of the circular area to be irrigated, which is a closed loop. The irrigating mechanism can complete the irrigating of a sub-path by rotating one circle. Figure 6 The area to be irrigated is discontinuous, and the generated subpath is non-closed loop, such as Figure 6The sub-path L1 in the moving path is located on sub-area 1, with its starting point A and end point B. The starting point and end point are at different positions and cannot be connected end to end. Whether the sub-path is closed-loop can be determined based on the shape of the area to be irrigated and the positional relationship between the irrigation mechanism and the area to be irrigated. The shape of the sub-path and the positions of the starting and ending points can be flexibly adjusted according to actual needs, and the embodiments of this specification do not make specific limitations. Each sub-path in the moving path can be closed-loop or non-closed-loop, which can be determined according to actual conditions. A closed-loop sub-path can irrigate the area within the sub-path range at one time, while a non-closed-loop sub-path may need to adjust the flow rate or opening and closing of the water curtain at the starting and ending points, which can not only ensure the efficiency of irrigation, but also save resources.

[0071] like Figure 6 As shown, when the sub-path is a non-closed loop, the starting point or the end point of the sub-path is located on the boundary of the area to be irrigated, so that the route between the starting point and the end point of the sub-path is ensured to be within the boundary of the area to be irrigated. When irrigating along the sub-path, it can be ensured that the water curtain is irrigated to the area that needs to be irrigated.

[0072] When watering the area to be irrigated along the sub-path, the rotation speed of the irrigation mechanism is related to the water pressure of the irrigation mechanism or the length of the sub-path. If the water pressure of the irrigation mechanism is relatively large, the water output will be relatively large, and the area to be irrigated can be irrigated thoroughly in a short time. At this time, the rotation speed of the irrigation mechanism can be relatively large compared to the rotation speed when the water pressure is relatively small. If the sub-path is relatively long, the rotation speed of the irrigation mechanism can also be set larger, which can increase the irrigation speed. The specific relationship between the rotation speed of the irrigation mechanism and the water pressure of the irrigation mechanism or the length of the sub-path can be determined through experiments or expert experience, and is not specifically limited in the embodiments of this specification.

[0073] The irrigation method provided in the embodiment of this specification, before the irrigation operation is performed on the area to be irrigated, first controls the rotation of the irrigation mechanism so that the water curtain landing point of the irrigation mechanism moves along the boundary of the area to be irrigated, and then obtains the position information of the boundary corresponding to each rotation angle based on the calibration information, and then constructs a boundary map of the area to be irrigated. Based on the constructed boundary map, the moving path of the water curtain landing point of the irrigation mechanism is generated, and the area to be irrigated is irrigated along the moving path. There is no need for technicians to design professional irrigation routes, and the irrigation mechanism realizes automatic and precise irrigation in the irrigation area. The operation is simple, and no other equipment needs to be added, which reduces the cost of irrigation.

[0074] In some embodiments of the present specification, a watering mechanism is also provided, and the watering mechanism may include a controller, which can execute the watering method described in the above embodiments to control the watering mechanism to water the area to be watered. The controller can be connected to the rotation drive device (such as a motor), the pitch drive device (such as a motor) and the water flow control device (such as a water flow switch or valve of a water curtain) of the watering mechanism to control the rotation angle, pitch angle, water flow, water pressure, etc. of the watering mechanism. The specific structure of the watering mechanism can be determined according to actual needs, and the embodiments of the present specification do not specifically limit it.

[0075] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the watering method as described above.

[0076] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one hard disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0077] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Figure 7 Schematic diagram of the structure of the watering electronic equipment provided by the embodiment of the present application, such as Figure 7As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, each of which may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 910 can be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0078] The input / output interface 940 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network adapter (Network Interface Controller, NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0079] It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations shown.

[0080] An embodiment of the present application further provides a storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the watering method as described above.

[0081] The above description has fully disclosed the specific implementation methods of the present application. It should be pointed out that any changes made by technicians familiar with the field to the specific implementation methods of the present application do not deviate from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the above specific implementation methods.

Claims

1. A watering method, characterized in that: The method comprises: The watering mechanism is rotated so as to control the water curtain of the watering mechanism to move along the boundary of the area to be irrigated; During the movement, multiple rotation angle information of the irrigation mechanism, as well as the pitch angle of the nozzle of the irrigation mechanism corresponding to each rotation angle and / or water flow related parameters of the irrigation mechanism are recorded; Acquire the position information of the boundary of the current irrigation area corresponding to each of the rotation angles based on the calibration information; Determine a boundary map of the area to be irrigated based on the location information; Based on the map of the area to be irrigated, a moving path of the water curtain landing point is generated; The watering mechanism is controlled to water the area to be watered according to the path.

2. The method according to claim 1, characterized in that The calibration information includes the corresponding relationship between the pitch angle and the distance from the starting point of the water curtain to the boundary of the irrigation area; Alternatively, the calibration information includes a correspondence between water flow related parameters of the irrigation mechanism and a distance from a starting point of the water curtain to a boundary of the irrigation area. Alternatively, the calibration information includes a correspondence between a pitch angle, water flow related parameters of the irrigation mechanism and the position information.

3. The method according to claim 1, characterized in that The position information includes the distance between the starting point of the water curtain and the boundary of the irrigation area or the distance between the location of the irrigation mechanism and the boundary.

4. The method according to any one of claims 1 to 3, characterized in that: The path includes at least one sub-path, and the irrigation mechanism performs irrigation according to the sub-path; in the non-path area, the water curtain of the irrigation mechanism does not pass through, or the water curtain is closed or works with a minimum spray water flow.

5. The method according to claim 4, characterized in that The sub-paths are closed-loop or non-closed-loop.

6. The method according to claim 5, characterized in that When the sub-path is a non-closed loop, the starting point or the end point of each sub-path is on the map of the boundary of the area to be irrigated.

7. The method according to claim 6, characterized in that The number and spacing of the sub-paths are related to the width of the water curtain.

8. The method according to any one of claims 1 to 7, characterized in that The landing point of the water curtain includes the farthest point where the water curtain falls on the ground.

9. The method according to claim 4, characterized in that The rotation speed of the watering mechanism is related to the water pressure of the watering mechanism or the length of the sub-path.

10. A watering mechanism, characterized in that: The watering mechanism comprises a controller, and the controller is used to execute the watering method according to any one of claims 1-9.

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